YASKAWA NX100 Operator's Manual page 143

149235-1CD
• Upper Arm/Lower Arm
This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are
viewed from the right-hand side.
Upper Arm
• S-axis Angle
This designation is required for the manipulators which have working envelopes greater
than ±180°.
This specifies whether the S-axis angle is less than ±180° or greater than ±180°.
-180°
°
-180
NOTE
θ S is the angle when the S-axis home position is 0°.
°
S<180
0°
180°
°
< θ S ≤ 180
3-79
3.9 Other Job-editing Functions
Right-hand side
Lower Arm
S ≥ 180
0°
360°
°
180 < θ S ≤ 360
°
< θ S ≤ -180
-360
3 Teaching
°
-360°
°
°
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